The invention relates to an electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot which comprises a crawler traveling module, a robot frame and an electric drive propeller module, the crawler traveling module is flexibly connected to the two sides of the robot frame through an adjustable connecting rod, and the electric drive propeller module comprises a horizontal propeller and a vertical propeller. An operation tool module and a mechanical arm module matched with the operation tool module are installed on the front side of the robot frame, and a hydraulic system module used for driving the crawler belt advancing module to move is installed on the rear side of the robot frame. According to the underwater robot, foreign matter attached to the surface of an underwater structure is cleaned, polished, subjected to defect detection and repaired through the carried different operation tool modules and the carried manipulator module, existing manual underwater cleaning operation can be replaced, therefore, the cleaning efficiency is greatly improved, an excellent hydrodynamic structure and electro-hydraulic dual-driving force are adopted, and the underwater robot can be used for cleaning the surface of the underwater structure. And the robot can play a role in intervention operation of various underwater production systems.
本发明涉及一种电液混动型履带式多功能作业级水下机器人,包括履带行进模块、机器人框架和电驱推进器模块,履带行进模块通过可调式连杆柔性连接于机器人框架的两侧,电驱推进器模块包括水平推进器以及竖直推进器,机器人框架的前侧安装有作业工具模块以及与作业工具模块配合的机械手模块,机器人框架的后侧安装有用于驱动履带行进模块运动的液压系统模块。本发明水下机器人通过搭载的不同作业工具模块和机械手模块对水下结构物表面上附着的异物进行清理、打磨、缺陷探伤和修复,能够替换现有的人工水下清洁操作,因此极大地提高了清洁效率,采用优异的水动力结构和电液双驱动力,让机器人在各类水下生产系统的介入作业也能发挥作用。
Electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot and system
一种电液混动型履带式多功能作业级水下机器人及系统
2022-04-29
Patent
Electronic Resource
Chinese
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